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C00002 00002	\|\\M1BDR30\M2SIGN57\M3NGR25\M4NGR20\F2\CVICARM
C00005 ENDMK
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\|\\M1BDR30;\M2SIGN57;\M3NGR25;\M4NGR20;\F2\CVICARM
\F3\C154 EAST DANA STREET
\CMOUNTAIN VIEW, CA. 94041

\F1\C				VAL

\C          INSTRUCTION SET FOR VICARM MANIPULATOR CONTROL PROGRAM 
\C			Version of September 1,1976

\J	For the following instructions, commas are to be used to separate
variables.  If an argument is optional, the default value will be used
if no value is given.  The names of transforms and programs can consist
of up to six characters. \.

\CMONITOR COMMANDS - DEFINING POSITIONS

\J The following commands are used for defining transforms and determining
the current position of the arm.  Transforms are specified in cartesian
coordinates and Euler angles.\.

\L     Command     	       	\R	Operation                     
\←L\+=400;\→l\←R\→r
TRANS <trans> \j Used to specify and modify the value of transform
			can be modified by typing a new value after the
			query CHANGES?.   Values that are not to be changed
			can be omitted.   Changes are continuously asked for
			until no change in the transform is made.
			The X,Y,Z specify the position of a point centrally
			located between the finger tips in table coordinates.  
			O,A,T specify the orientation of the hand.  With all three
			angles (in degrees) zero, the hand points in the negative Y
			direction with the fingers in a horizontal plane.  The 
			orientation vector which points from one finger tip to the
			other  is aligned along the X axis.  O specifies a rotation
			of the orientation vector about a vertical direction.  Thus
			at O=90deg, the hand, still horizontal, would point along the
			positive X direction.  A is a rotation about the orientation
			vector.  With A=90deg. the hand always points straight down.
			T is a final rotation about the axis of the wrist and
			corresponds to a rotation of the final )#6) joint.\.
     
THIS IS A TEST FILE